How to install Intel_RealSense Camera R200 on Ubuntu 16.04
Or we can use
There are installation prerequisites for the Intel RealSense package installation in http://wiki.ros.org/librealsense
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and after we can run realsense_camera node to prove that is installed correctly
roslaunch realsense_camera r200_nodelet_default.launch
While the realsense_camera node is running, you can view various data from Intel RealSense by launching rqt_image_view.
$ rqt_image_view